package gecaoji;
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import java.awt.geom.Point2D;
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import java.util.List;
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/**
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* 割草机边界检查工具类。
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*
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* 用法契约：
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* - 输入的地块边界为闭合的多边形点序列（顺序为顺时针或逆时针均可），每个点包含 X（米）、Y（米）坐标。
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* - 若点位于多边形内部或位于边界线上，返回 true；否则返回 false。
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*/
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public final class MowerBoundaryChecker {
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private MowerBoundaryChecker() { }
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/**
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* 判断给定点是否在边界多边形内部（含边界）。
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*
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* @param polygonPoints 边界点列表，每个元素为 double[2]，索引0为x，索引1为y；至少需要3个点
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* @param x 割草机实时X坐标（米）
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* @param y 割草机实时Y坐标（米）
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* @return 如果点在多边形内部或边界上则返回 true；否则返回 false
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*/
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public static boolean isInsideBoundary(List<double[]> polygonPoints, double x, double y) {
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if (polygonPoints == null || polygonPoints.size() < 3) {
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return false;
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}
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int n = polygonPoints.size();
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boolean inside = false;
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for (int i = 0, j = n - 1; i < n; j = i++) {
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double xi = polygonPoints.get(i)[0];
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double yi = polygonPoints.get(i)[1];
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double xj = polygonPoints.get(j)[0];
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double yj = polygonPoints.get(j)[1];
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// 判断点是否在当前边上（考虑浮点容差）
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if (pointOnSegment(xj, yj, xi, yi, x, y)) {
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return true;
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}
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boolean intersect = ((yi > y) != (yj > y)) &&
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(x < (xj - xi) * (y - yi) / (yj - yi + 0.0) + xi);
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if (intersect) {
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inside = !inside;
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}
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}
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return inside;
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}
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/**
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* 重载：接受 Point2D 列表
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*/
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public static boolean isInsideBoundaryPoints(List<Point2D.Double> polygonPoints, double x, double y) {
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if (polygonPoints == null || polygonPoints.size() < 3) {
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return false;
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}
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int n = polygonPoints.size();
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boolean inside = false;
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for (int i = 0, j = n - 1; i < n; j = i++) {
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double xi = polygonPoints.get(i).x;
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double yi = polygonPoints.get(i).y;
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double xj = polygonPoints.get(j).x;
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double yj = polygonPoints.get(j).y;
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if (pointOnSegment(xj, yj, xi, yi, x, y)) {
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return true;
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}
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boolean intersect = ((yi > y) != (yj > y)) &&
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(x < (xj - xi) * (y - yi) / (yj - yi + 0.0) + xi);
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if (intersect) {
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inside = !inside;
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}
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}
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return inside;
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}
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/**
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* 重载：接受二维数组 double[][]，每行 [x,y]
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*/
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public static boolean isInsideBoundary(double[][] polygon, double x, double y) {
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if (polygon == null || polygon.length < 3) {
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return false;
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}
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int n = polygon.length;
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boolean inside = false;
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for (int i = 0, j = n - 1; i < n; j = i++) {
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double xi = polygon[i][0];
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double yi = polygon[i][1];
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double xj = polygon[j][0];
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double yj = polygon[j][1];
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if (pointOnSegment(xj, yj, xi, yi, x, y)) {
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return true;
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}
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boolean intersect = ((yi > y) != (yj > y)) &&
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(x < (xj - xi) * (y - yi) / (yj - yi + 0.0) + xi);
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if (intersect) {
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inside = !inside;
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}
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}
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return inside;
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}
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// 判断点是否在线段 (x1,y1)-(x2,y2) 上（包括端点），允许小的数值误差
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private static boolean pointOnSegment(double x1, double y1, double x2, double y2, double px, double py) {
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double cross = (px - x1) * (y2 - y1) - (py - y1) * (x2 - x1);
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double eps = 1e-8;
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if (Math.abs(cross) > eps) {
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return false;
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}
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double dot = (px - x1) * (px - x2) + (py - y1) * (py - y2);
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return dot <= eps;
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}
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}
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